Autonomous Movement Device, Autonomous Movement Method, And Program

Abstract

An autonomous movement device includes driven wheels, a storage, and a processor. The processor: causes taught memorized data to be memorized in the storage; based on the memorized data, controls the driven wheels to cause the autonomous movement device to autonomously travel; at a hold point, the hold point being a point at which autonomous travel of the autonomous movement device is suspended, controls the driven wheels to cause the autonomous movement device to travel in a travel mode other than the autonomous travel; and, when the autonomous movement device reaches near the hold point in a travel mode other than the autonomous travel, causes the suspended autonomous travel to be resumed.

1 . An autonomous movement device comprising:
 driven wheels;   a storage; and   a processor,   wherein the processor   causes taught memorized data to be memorized in the storage,   based on the memorized data, controls the driven wheels to cause the autonomous movement device to autonomously travel,   at a hold point, the hold point being a point at which autonomous travel of the autonomous movement device is suspended, controls the driven wheels to cause the autonomous movement device to travel in a travel mode other than the autonomous travel, and   when the autonomous movement device reaches near the hold point in a travel mode other than the autonomous travel, causes the suspended autonomous travel to be resumed.   
     
     
         2 . The autonomous movement device according to  claim 1 , wherein the processor,
 at the hold point at which autonomous travel of the autonomous movement device is suspended, memorizes a travel direction of the autonomous movement device in the storage as a hold direction,   when the autonomous movement device reaches near the hold point in a travel mode other than the autonomous travel, determines whether or not a travel direction of the autonomous movement device coincides with the hold direction, and   when the travel direction does not coincide with the hold direction, after controlling the driven wheels to cause the autonomous movement device to turn in such a way that the travel direction coincides with the hold direction, causes the suspended autonomous travel to be resumed.   
     
     
         3 . The autonomous movement device according to  claim 1 , wherein the processor,
 at the hold point at which autonomous travel of the autonomous movement device is suspended, memorized a travel direction of the autonomous movement device in the storage as a hold direction,   when the autonomous movement device reaches near the hold point in a travel mode other than the autonomous travel, determines whether or not a travel direction of the autonomous movement device is an opposite direction to the hold direction, and   when the travel direction is an opposite direction to the hold direction, causes the autonomous travel to be resumed in such a way that the autonomous movement device travels to a start point at which the autonomous movement device started the autonomous travel, along a route obtained by reversing a direction of a route from the start point to the hold point.   
     
     
         4 . The autonomous movement device according to  claim 1  further comprising operation acquirer to acquire a user operation,
 wherein, when the processor acquires a user operation by the operation acquirer during the autonomous travel, the processor suspends autonomous travel and memorizes a location of the autonomous movement device and a travel direction of the autonomous movement device at a moment of the suspension as a hold point and a hold direction, respectively, in the storage. 
 
     
     
         5 . The autonomous movement device according to  claim 1  further comprising operation acquirer to acquire a user operation,
 wherein, even when the processor acquires a same operation by the operation acquirer, the processor performs different control depending on a state of the autonomous movement device at a moment of the acquisition on the autonomous movement device. 
 
     
     
         6 . The autonomous movement device according to  claim 1  further comprising an output device,
 wherein, while the processor suspends the autonomous travel, the processor causes the output device to output a signal indicating that autonomous travel is resumable. 
 
     
     
         7 . The autonomous movement device according to  claim 1  further comprising a sensor to detect a surrounding object,
 wherein the processor
 recognizes a following target from among objects detected by the sensor, and 
 at a time of generating route data of a surrounding environment based on data of a point cloud detected by the sensor, generates the route data without using the data of the following target but using the data of an object other than the following target. 
 
 
     
     
         8 . The autonomous movement device according to  claim 1  further comprising an output device means,
 wherein, when storage of the memorized data is finished, the processor causes the output device to output a signal indicating that memorizing processing is finished. 
 
     
     
         9 . The autonomous movement device according to  claim 1 , wherein the processor, at a time of causing the autonomous movement device to autonomously travel based on the memorized data, adjusts a travel path. 
     
     
         10 . An autonomous movement method for an autonomous movement device comprising:
 memorizing taught memorized data in a storage;   based on the memorized data, controlling driven wheels to cause the autonomous movement device to autonomously travel;   at a hold point, the hold point being a point at which autonomous travel of the autonomous movement device is suspended, controlling the driven wheels to cause the autonomous movement device to travel in a travel mode other than the autonomous travel; and   when the autonomous movement device reaches near the hold point in a travel mode other than the autonomous travel, causing the suspended autonomous travel to be resumed.   
     
     
         11 . (canceled)